Multi-Axis Coordinated Motion Instructions
440 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Decel Jerk SINT, INT, DINT, or REAL Immediate or Tag
operands. This instruction only
uses the values if the Profile
operand is configured as S-curve.
Enter the jerk rates in these Jerk
Units.
0 = Units per sec
3
1 = % of Maximum
2 = % of Time
4 = Units per MasterUnit
3
6 = % of Time-Master Driven
Use these values to get started.
Accel Jerk = 100 (% of Time)
Decel Jerk = 100 (% of Time)
Jerk Units = 2
Jerk Units SINT, INT, or DINT Immediate
Termination Type SINT, INT, or DINT Immediate or Tag 0 = Actual Tolerance
1 = No Settle
2 = Command Tolerance
3 = No Decel
4 = Follow Contour Velocity
Constrained
5 = Follow Contour Velocity
Unconstrained
6 = Command Tolerance
Programmed
See Choose a Termination Type in
the Related Topics section below.
Merge SINT, INT, or DINT Immediate 0 = Disabled
1 = Coordinated Motion
2 = All Motion
Merge Speed SINT, INT, or DINT Immediate 0 = Programmed
1 = Current
Command Tolerance REAL Immediate Real or Tag The position on a coordinated
move where blending should
start. This parameter is used in
place of Command Tolerance in
the Coordinate System if
Termination Type 6 is used.
Tip: Termination type 2 is
identical to Termination Type 6
except the Command Tolerance
value from the coordinate system
is used and this parameter is
ignored.
Lock Position REAL Tag Position on the Master Axis
where a Slave should start
following the master after the
move has been initiated on the
Slave Axis.
See the Structure section below
for more information.
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